JP2002342018A - Actuator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an actuator with a simple structure with excellent durability capable of accurately controlling the relative movement of a second member to a first member. SOLUTION: While a movable member (second member) 112 moves on a plane relatively to a fixed member (first member) 111, light outputted from a light emitting element 120 provided on the side of the movable member 112 is received by a light receiving sensor 114 provided on the side of the fixed member 111. On the basis of electric signals outputted from the light receiving sensor 114 corresponding to the position of the light received by the light receiving sensor 114, the relative displacement of the movable member 112 to the fixed member 111 is detected. Then, on the basis of the detected result, the relative movement of the movable member 112 to the fixed member 111 is controlled.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an actuator in which a second member moves linearly or on a plane relative to a first member.

[0002]

2. Description of the Related Art An actuator in which a second member moves linearly or on a plane relative to a first member is, for example, a movable second member that moves relative to a fixed first member. Accordingly, the sample or the like fixed to the second member can be moved, or a tactile stimulus can be given to a fingertip of a person who has touched the second member. In such an actuator, it is important to accurately control the relative movement of the second member with respect to the first member. For this purpose, generally, the relative displacement of the second member with respect to the first member is detected, and the relative movement of the second member with respect to the first member is feedback-controlled based on the detection result. .

[0003]

By the way, various methods can be considered as a method for detecting the relative displacement of the second member with respect to the first member. For example, it is conceivable to adopt a displacement detection method using sliding resistance. However, this method has a problem in durability because the contact slides on the resistor,
In addition, accurate backlash detection makes it difficult to accurately detect displacement. Particularly, in the actuator, since the second member moves relative to the first member, it is fatal that the durability is low. In addition, it is difficult for the actuator to accurately detect displacement, because the second member with respect to the first member is difficult to detect.
This means that the relative movement of the members cannot be precisely controlled.

It is also conceivable to employ an optical displacement detection method such as that employed in an optical mouse (for example, Japanese Patent Application Laid-Open No. 58500/777, Japanese Unexamined Patent Publication No.
-250780). In this optical displacement detection method, a light emitting element and a light receiving sensor are provided on the mouse side, and a grid pattern is drawn on the mouse pad side at regular intervals. When the mouse is placed on the mouse pad, the light output from the light emitting element of the mouse is reflected by the mouse pad, and the reflected light is detected by the light receiving sensor of the mouse. When the mouse moves on the mouse pad, the intensity of the reflected light that reaches the detection unit changes according to the lattice pattern drawn on the mouse pad. A relative displacement is detected. This optical displacement detection method
It has excellent durability and accurate displacement detection without backlash. However, in this optical displacement detection method, both the light emitting element and the light receiving sensor are provided on the mouse side, and the change in reflection at the mouse pad on which the grid pattern is drawn is detected. Is complicated in the structure of the optical system.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and it is possible to accurately control the relative movement of a second member with respect to a first member, to have excellent durability, To provide a simple actuator.

[0006]

An actuator according to the present invention is an actuator in which a second member moves on a straight line or a plane relative to a first member. A signal generation unit provided on a member fixed to the first member and outputting a signal to the first member;
A signal detection sensor that is provided on the member or a member fixed thereto and receives a signal output by the signal generation unit;
(3) The relative displacement of the second member with respect to the first member is detected based on the signal received by the signal detection sensor, and the relative movement of the second member with respect to the first member is controlled based on the detection result. Motion control means.

In this actuator, while the second member moves on a straight line or on a plane relative to the first member, a signal output from a signal generation unit provided on the second member side receives It is received by a signal detection sensor provided on one member side. Then, the relative displacement of the second member with respect to the first member is detected by the motion control means based on the signal received by the signal detection sensor, and the movement of the second member with respect to the first member is determined based on the detection result. The relative movement is controlled.

[0008] In the actuator according to the present invention, it is preferable that the signal generating section is provided at the position of the center of gravity of the second member. In this case, even if the first member and the second member rotate relative to each other about a straight line or a straight line perpendicular to a plane in which the first member and the second member relatively move, the first member and the second member may be rotated on the straight line or the plane. The relative displacement between the two is accurately detected, and the relative movement between the two is accurately controlled.

[0009]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. In the description of the drawings, the same elements will be denoted by the same reference symbols, without redundant description.

In this embodiment, a pointing device including an actuator will be described. FIG. 1 is an external view of an information processing system 1 including a pointing device 10 according to the present embodiment. This information processing system 1
The device includes a pointing device 10 and a keyboard 20 as input devices, and further includes an image display device 30 and a main body 40. The pointing device 10 receives designation of a position on the screen of the image display device 30 and presents a tactile stimulus to the operator as an actuator. The keyboard 20 is used for character input and the like. The image display device 30 displays the image 31 and displays the cursor 3 at the position designated by the pointing device 10.
2 is displayed, and characters input by the keyboard 20 are displayed. The main body 40 includes a CPU, a ROM, and an RA.
M and the like, and controls / calculates input / output of various types of information by the pointing device 10, the keyboard 20, and the image display device 30.

FIG. 2 is a sectional view of the pointing device 10 according to the present embodiment. The pointing device 10 has substantially the same form as a conventional mouse, and includes a ball 101 and a first displacement detection unit 102. The ball 101 is at the bottom of the main body 100 and can be rotated. When the main body 100 moves on a reference surface (for example, a desk surface or a mouse pad), the ball 101
1 rotates. The first displacement detecting means 102 detects a two-dimensional displacement (displacement direction and displacement amount) of the main body 100 with respect to the reference plane by detecting the rotation direction and the rotation amount of the ball 101 by an encoder.

The pointing device 10 includes a fixed member (first member) 111 and a movable member (second member) 11.
2 and a support member 121. Fixing member 111
Is connected to the main body 1 via the elastically deformable support member 121.
00 is fixed to the upper part. The movable member 112 is movable with respect to the fixed member 111.

Further, the pointing device 10
It has a switch 131 and a signal processing circuit 132. When the finger of the person operating the pointing device 10 presses the movable member 112, the fixed member 111 presses the switch 131. That is, the switch 131
The signal processing circuit 132 detects whether or not the movable member 112 has been pressed, and outputs a signal indicating whether or not the movable member 112 has been pressed.

FIG. 3 is a block diagram of the pointing device 10 according to the present embodiment. In this figure, a cross-sectional view of the fixed member 111 and the movable member 112 is shown. Each of the fixed member 111 and the movable member 112 has a substantially flat plate shape, and the movable member 112 can move with respect to the fixed member 111. The direction of movement of the movable member 112 is a direction parallel to the surface of the fixed member 111,
Rotation is also possible on that surface. That is, these are elements that constitute the actuator in the present embodiment.
The second displacement detection unit 113 detects the displacement (displacement direction and displacement amount) of the movable member 112 with respect to the fixed member 111 together with the light receiving sensor 114, and transmits the information on the displacement to both the tactile stimulus presentation unit 151 and the position designation unit 141. Notify. Although not shown in this figure, a signal generator for generating a position signal is provided in a part of the movable member 112.

The position specifying means 141 is provided in the image display device 30.
A local coordinate system having an origin is set on the screen of the first displacement detecting means 102, and the origin of the local coordinate system is displaced according to the displacement of the main body 100 detected by the first displacement detecting means 102.
A position displaced from the origin of the local coordinate system is designated according to the displacement of the movable member 112 detected by 13, and the position information is notified to the main body 40.

The tactile stimulus presenting means 151 receives the tactile stimulus information notified from the main body 40 (that is, information relating to the movement of the movable member 112) and the displacement information of the movable member 112 notified from the second displacement detecting means 113. And, based on the information, feedback control of the relative movement of the movable member 112 with respect to the fixed member 111. The tactile stimulus according to the notified tactile stimulus information is presented. That is, the tactile stimulus presenting means 15
The first and second displacement detecting means 113 include a light receiving sensor 114
Detects the relative displacement of the movable member 112 with respect to the fixed member 111 based on the signal received by the device, and acts as a motion control means for performing feedback control on the relative motion of the movable member 112 with respect to the fixed member 111 based on the detection result. I do.

The information on the position finally designated may be transmitted from the pointing device 10 to the main body 40, or the main body 1 detected by the first displacement detecting means 102 may be transmitted.
00 and the displacement of the movable member 112 detected by the second displacement detection means 113 may be transmitted. In the latter case, the position specifying means 141 of the pointing device 10 according to the present embodiment is present in the main body 40.

FIG. 4 shows a fixing member 1 of a pointing device 10 (particularly, an actuator portion) according to this embodiment.
FIG. 11 is a more detailed configuration diagram of 11 and a movable member 112.
FIG. 1A is a plan view, and FIG. 1B is a cross-sectional view taken along line AA in FIG. 1A. The pointing device 10 includes a substantially plate-shaped fixing member 111 whose side edge protrudes upward, a movable member 112 movable in a direction parallel to a predetermined plane with respect to the fixing member 111, and a fixing member 11.
Elastic members 115A to 115D are provided between the side edge portion 1 and the movable member 112 to connect them. Elastic member 115
Each of A to 115D is an elastic resin or a spring, and is provided at four locations around the movable member 112. One end is joined to the movable member 112, and the other end is attached to the side edge of the fixed member 111. Are joined.

The movable member 112 has four coils 1
16A to 116D are fixed. In the plan view of FIG. 3A, the center is the origin, the right direction is the X-axis direction,
Assuming that the upward direction is the Y-axis direction, the coil 116A is provided across the X-axis in a region where the X-coordinate value is positive.
16B is provided over the X axis in a region where the X coordinate value is negative, the coil 116C is provided over the Y axis in a region where the Y coordinate value is positive, and the coil 116D is provided with a Y coordinate value. It is provided over the Y axis in the negative region.

FIG. 5 is a plan view for explaining a tactile stimulus presenting mechanism (ie, an actuator operating mechanism) in the pointing device 10 according to the present embodiment. Four magnets 117A to 117D are fixed to the fixing member 111. The magnet 117A is provided in a region where the X coordinate value is positive and the Y coordinate value is also positive so that its magnetic flux passes through both the coils 116A and 116D. Magnet 11
7B is provided in a region where the X coordinate value is negative and the Y coordinate value is positive so that the magnetic flux passes through both the coils 116B and 116D. The magnet 117C is provided in a region where the X coordinate value is negative and the Y coordinate value is negative so that the magnetic flux passes through both the coils 116B and 116C. The magnet 117D has a magnetic flux in a region where the X coordinate value is positive and the Y coordinate value is negative.
A is provided so as to penetrate both A and 116C.
Of these, magnets 117A and 117C respectively
The magnets 117B and 117D are arranged such that the side facing the movable member 112 has an N pole on the side facing the movable member 112.

The coils 116A to 116D and the magnet 117A
In other words, the relative positional relationship between .about.117D is as follows. The coil 116A has a magnet 117
A current is provided so as to cross a magnetic field generated by each of A and 117D in a direction parallel to the X axis. The coil 116B is provided so that a current crosses a magnetic field generated by each of the magnets 117B and 117C in a direction parallel to the X axis. The coil 116C is a magnet 117C
And 117D are provided so that the current crosses in the direction parallel to the Y-axis with respect to the magnetic field generated by each of these. Also,
The coil 116D is provided so that a current crosses a magnetic field generated by each of the magnets 117A and 117B in a direction parallel to the Y axis.

Copper coils may be used for each of the coils 116A to 116D, and it is also preferable to use copper-plated aluminum wires for weight reduction. Magnet 1
Each of 17A to 117D preferably has a large coercive force and a large residual magnetic flux density. For example, a neodymium magnet is suitable.

The tactile stimulus presenting means 151 includes coils 116A to 116A.
The current can flow independently for each of the 116Ds. Then, an interaction occurs according to Fleming's left-hand rule between the magnitude and direction of the current flowing through each of the coils 116A to 116D and the magnetic field generated by each of the magnets 117A to 117D. Due to this, the coil 116A
To 116D, a thrust is generated, and according to the thrust and the stress of each of the elastic members 115A to 115D,
The movable member 112 moves with respect to the fixed member 111. The movable member 112 presents a tactile stimulus to an operator's finger or the like touching the movable member 112.

FIG. 6 shows a fixed member 111 and a movable member 112 in the pointing device 10 according to the present embodiment.
FIG. 4 is a cross-sectional view illustrating a mechanism for detecting a relative displacement between the two. A light emitting element (signal generation unit) 120 is provided at the center of the lower surface of the movable member 112 to which the coils 116A to 116D are fixed. This light emitting element 120 is
(That is, the center position of the region surrounded by the coils 116A to 116D),
It is provided at a position higher than the lower surface of 6D, and outputs light toward the lower fixing member 111. As the light emitting element 120, for example, a light emitting diode or a semiconductor laser light source is used.

On the other hand, a light receiving sensor (signal detection sensor) 114 is provided at the center of the upper surface of the fixing member 111 to which the magnets 117A to 117D are fixed. This light receiving sensor 114
Is provided at a center position of a region surrounded by the magnets 117A to 117D and lower than the upper surfaces of the magnets 117A to 117D, receives light output from the light emitting element 120, and receives light on the light receiving surface. An electric signal having a value corresponding to the light incident position is output. As the light receiving sensor 114, a four-division type photodiode, a four-division type phototransistor,
Alternatively, a two-dimensional optical position detecting element (PSD: position
A sensitive detector is used. Also, a four-segment photodiode or a four-segment phototransistor is
It may be formed on a chip, or may be another chip arranged.

FIG. 7 is a view for explaining an example of the light receiving sensor 114 in the pointing device 10 according to the present embodiment. In this figure, an XYZ orthogonal coordinate system is also shown for ease of explanation. Further, a range where light reaches from the light emitting element 120 is indicated by a circle C. The light receiving sensor 114 shown in this figure has a configuration of a four-division photodiode, and has four light receiving regions 114A to 114D.
have. Each of the four light receiving regions 114A to 114D is a square having the same dimensions, and is arranged in two rows and two columns. Each of the four light receiving regions 114A~114D receives the light that has reached, and outputs the voltage value in accordance with the intensity of light _{V a, V b, V c} , V d. Assuming that the reverse bias voltage is V _bias , the four light receiving regions 114A to 114D
Amount of received light in _{each, V A = V bias -V a} , V
_B = V _bias −V _b , V _C = V _bias −V _c , V _D = V _bias −V _d
Is proportional to

The incident position (P _X , P _Y ) of light on the light receiving sensor 114 is, for example, P _X = 100 × (V _A + V _D ) / Z (1a) P _Y = 100 × (V _A + V _B ) / Z (1b) Here, Z = V _A + V _B + V _C + V _D (2) Here, four light receiving areas 114A to 114D
The center position of the area surrounded by is defined as the origin (X = Y = 0). If the center of the light that has reached as shown in FIG. 7 is positioned in the light receiving region 114A, each P _X and P _Y becomes a value between the value 50 and value 100. Note that the coordinate system may be set in any manner (origin, scale), and other modes are possible.

By providing the light emitting element 120 and the light receiving sensor 114 as described above, the relative displacement of the movable member 112 with respect to the fixed member 111
4 is detected based on the value of the electric signal outputted from
Then, the second displacement detecting means 113
An electric signal output from the controller is input, the electric signal is appropriately amplified, A / D-converted into a digital signal, and a displacement of the movable member 112 with respect to the fixed member 111 is detected based on the digital signal.

Next, the tactile stimulus presenting operation of the pointing device 10 (ie, the operation of the actuator) will be described. When a current flows through each of the coils 116A to 116D by being driven by the tactile stimulus presenting means 151, the coils 116A to 116D follow the Fleming's left hand rule.
A thrust acts on each of D, whereby the movable member 112 moves.

First, considering each of the coils 116A and 116B, a magnetic field is generated in the Z-axis direction, which is a direction perpendicular to the fixing member 111, and when a current flows in the X-axis direction in this magnetic field, the magnetic field is generated in the Y-axis direction. Thrust is generated. When a current is supplied to the coil 116A in the clockwise direction, the coil 1A
A thrust in the + Y-axis direction acts on 16A. Also, the coil 11
When a current flows in the counterclockwise direction through 6B, the coil 116
A thrust in the + Y-axis direction acts on B. By changing the direction in which the current flows, the direction in which the thrust works can be changed.
By changing the current value, the magnitude of the thrust can be changed.

Similarly, considering each of the coils 116C and 116D, a magnetic field is generated in the Z-axis direction which is a direction perpendicular to the fixing member 111. When a current flows in the Y-axis direction in this magnetic field, the magnetic field is generated in the X-axis direction. Thrust is generated. When a current flows through the coil 116C in the clockwise direction, a thrust in the + X-axis direction acts on the coil 116C. Also, coil 1
When a current is applied to 16D in the counterclockwise direction, the coil 11
A thrust in the + X axis direction acts on 6D. The direction in which the thrust works can be changed by changing the direction in which the current flows, and the magnitude of the thrust can be changed by changing the current value.

When the movable member 112 only needs to be moved in parallel with respect to the fixed member 111, the coils 116A and 116B are connected to each other, and the coils 116A and 116B are connected to each other.
A and 116B may be given a thrust in the same direction, and coils 116C and 116D may be connected to each other to give a thrust in the same direction to coils 116C and 116D.

Further, the fixing member 11 is provided with the Z axis substantially at the center.
A thrust can be generated in the direction in which the movable member 112 is rotated with respect to one. That is, when a current flows in a clockwise direction to each of the coils 116A and 116B, a thrust in the + Y-axis direction acts on the coil 116A and a thrust in the -Y-axis direction acts on the coil 116B. As a result, a rotational moment for rotating the movable member 112 in the counterclockwise direction is generated. When a current is applied to each of the coils 116A and 116B in a counterclockwise direction, a thrust in the −Y-axis direction acts on the coil 116A and a thrust in the + Y-axis direction acts on the coil 116B.
A rotational moment is generated with respect to the fixed member 111 to rotate the movable member 112 in the clockwise direction. The center of rotation can be changed by changing the ratio of the value of the current flowing through each of the coils 116A and 116B. The same applies to each of the coils 116C and 116D.

In this manner, the movable member 112 moves with respect to the fixed member 111. During the movement, the light emitting element 1
Light reaching the light receiving sensor 114 from the light receiving sensor 1
The electric signal corresponding to the light receiving position is output from the light receiving sensor 114. This light receiving sensor 11
4 is input to the second displacement detecting means 113, based on which the displacement of the movable member 112 with respect to the fixed member 111 is detected, and the displacement information is notified to the tactile stimulus presenting means 151. Is done. And the body 4
0 (ie, the movable member 11)
2) and second displacement detecting means 1
On the basis of the information on the displacement of the movable member 112 notified from 13, the relative movement of the movable member 112 with respect to the fixed member 111 is feedback-controlled by the tactile stimulus presentation unit 151. In this way, a tactile stimulus corresponding to the tactile stimulus information notified from the main body 40 is presented to the operator's finger or the like touching the movable member 112.

As described above, in the actuator mounted on the pointing device 10, the fixing member 111
While the movable member 112 moves relatively on a plane, light output from the light emitting element 120 provided on the movable member 112 side is received by the light receiving sensor 114 provided on the fixed member 111 side. You. Second displacement detecting means 113
Accordingly, the relative displacement of the movable member 112 with respect to the fixed member 111 is detected based on the electric signal output from the light receiving sensor 114 in accordance with the position of the light received by the light receiving sensor 114. Then, the relative movement of the movable member 112 with respect to the fixed member 111 is controlled by the tactile stimulus presenting means 151 based on the detection result.

Accordingly, the displacement detecting mechanism of this actuator has no durability because it does not have a sliding portion, and has no problem of backlash, so that the relative movement of the movable member 112 with respect to the fixed member 111 can be accurately determined. Can be controlled. Since the light emitting element 120 is provided on the movable member 112 side and the light receiving sensor 114 is provided on the fixed member 111 side, the structure of the optical system is simple. Further, since the light output from the light emitting element 120 is directly received by the light receiving sensor 114 instead of detecting the reflected light, the intensity of the light output from the light emitting element 120 is small and sufficient. As a result, power consumption is small, and a small light-emitting element 120 can be used.

The actuator is provided with a light emitting element 1
Since the movable member 112 is provided at the center of gravity of the movable member 112, the fixed member 111 and the movable member 112 may relatively rotate about a straight line perpendicular to a plane in which the movable member 112 relatively moves. However, the relative displacement between the two on the plane is accurately detected, and the relative movement between the two is accurately controlled.

In the case where this actuator is used for presenting a tactile stimulus as in this embodiment,
The fingertip of the operator touching the upper surface of the movable member 112 may interfere with the movement of the movable member 112. However, as described above, this actuator is
Relative displacement of the movable member 112 with respect to
By controlling the movement of the movable member 112 based on the detection result, even when the fingertip of the operator touches the upper surface of the movable member 112, the desired tactile stimulus can be given to the fingertip.

The tactile stimulus is, for example, in accordance with the position of the cursor 32 in the image displayed on the screen of the image display device 30. More specifically, as shown in FIG. 1, the cursor 32 moves on the screen of the image display device 30 due to the movement of the pointing device 10, and the image 3 displayed on the screen of the image display device 30 at that time.
If the cursor 32 moves on the image 1, the image 3
Tactile stimulus information indicating the tactile sensation of the object represented by 1 is sent from the main body 40 to the pointing device 10. Then, the pointing device 10 receives the tactile stimulus information, and based on the information, the movable member 112 moves to give a tactile stimulus to the fingertip of the operator touching the movable member 112. That is, the operator can feel the tactile sensation of the object represented by the image 31 with the fingertip.

In the case where the actuator is a part of the pointing device 10 and this actuator is also used to designate the position of the cursor 32 on the screen of the image display device 30 as in this embodiment, For example, the position of the cursor 32 on the image display device 30 is roughly specified by the ball 101 and the first displacement detection means 102, and the position of the cursor 32 on the image display device 30 is determined by the relative movement of the movable member 112 in the actuator. Is specified in detail. In such a case, it is required that the designation of the position of the cursor 32 by the displacement of the movable member 112 in the actuator be precise, but the relative displacement of the movable member 112 with respect to the fixed member 111 is accurately detected as described above. Therefore, the precise designation of the position of the cursor 32 on the image display device 30 by the actuator is also accurate.

The light emitting element 120 and the light receiving sensor 114
Distance affects the light receiving sensitivity and the measurement range. That is, the shorter the distance between the two, the higher the light receiving sensitivity but the narrower the measurement range. On the other hand, the longer the distance between the two, the lower the light receiving sensitivity, but the wider the measurement range. Therefore, the distance between the two is fixed member 111 and movable member 11
Preferably, it is set appropriately according to the maximum amount of relative displacement between the two.

The present invention is not limited to the above embodiment, and various modifications are possible. For example, in the actuator of the above embodiment, the movable member 112 moves on a plane with respect to the fixed member 111, but may move on a straight line. In this case, the light receiving sensor 114 may detect the position of the light reaching from the light emitting element 120 as the position along the linear direction, and for example, a one-dimensional PSD is used.

Further, in the actuator of the above embodiment, the light emitting element 120 is provided on the movable member 112 side and the light receiving sensor 114 is provided on the fixed member 111 side. Conversely, the light receiving element 114 is provided on the fixed member 111 side. A light emitting element may be provided, and a light receiving sensor may be provided on the movable member 112 side.

In the actuator according to the above embodiment, the light emitting element 120 and the light receiving sensor 114 are used.
Although the displacement of the movable member 112 relative to the fixed member 111 is measured optically, the displacement may be measured using magnetism. For example, an electromagnet is provided on the movable member 112 side, and a Hall element is provided on the fixed member 111 side. A current having a constant period is supplied to the electromagnet on the movable member 112 side to generate a magnetic field having a constant period. The fixed period magnetic field component is detected by the Hall element on the fixed member 111 side. By doing so, the coils 116A to 116D
The magnetic field generated by the electromagnet on the movable member 112 side can be detected by the Hall element on the fixed member 111 side, distinguishing from the magnetic field generated by the magnets 117A to 117D. Then, the movable member 1 with respect to the fixed member 111 is
12 can be measured, and the movable member 1
Twelve movements can be controlled.

[0045]

As described above in detail, the actuator according to the present invention is provided on the second member side while the second member moves linearly or on a plane relative to the first member. The signal output from the generated signal generator is the first signal.
It is received by a signal detection sensor provided on the member side. Then, the relative displacement of the second member with respect to the first member is detected by the motion control means based on the signal received by the signal detection sensor, and the movement of the second member with respect to the first member is determined based on the detection result. The relative movement is controlled. Therefore, the displacement detecting mechanism in this actuator has excellent durability because it has no sliding portion, and has no problem of backlash, so that the relative movement of the second member with respect to the first member is accurately controlled. It is possible. In addition, a signal generator is provided on the second member side,
Since the signal detection sensor is provided on the first member side, the displacement detection mechanism is simple.

When the signal generating section is provided at the position of the center of gravity of the second member, both of them are centered on a straight line in which the first member and the second member relatively move or a straight line perpendicular to a plane. Even if they rotate relatively, the relative displacement between the two on the straight line or the plane is accurately detected, and the relative movement between the two is accurately controlled.

[Brief description of the drawings]

FIG. 1 shows a pointing device 10 according to an embodiment.
1 is an external view of an information processing system 1 including

FIG. 2 is a pointing device 10 according to the embodiment.
FIG.

FIG. 3 is a pointing device 10 according to the embodiment.
It is a block diagram of.

FIG. 4 is a pointing device 10 according to the embodiment.
FIG. 3 is a configuration diagram of a fixed member 111 and a movable member 112 of FIG.

FIG. 5 is a pointing device 10 according to the embodiment.
FIG. 3 is a plan view for explaining a tactile stimulus presentation mechanism in FIG.

FIG. 6 is a pointing device 10 according to the embodiment.
FIG. 6 is a cross-sectional view illustrating a mechanism for detecting a relative displacement between a fixed member 111 and a movable member 112 in FIG.

FIG. 7 is a pointing device 10 according to the embodiment.
FIG. 3 is a diagram illustrating an example of a light receiving sensor 114 in FIG.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Information processing system, 10 ... Pointing device, 20 ... Keyboard, 30 ... Image display device, 40 ... Main body, 100 ... Main body, 101 ... Ball, 102 ... 1st displacement detection means, 111 ... Fixed member, 112 ... Movable member , 11
3: second displacement detecting means, 114: light receiving sensor, 115A
~ 115D ... elastic member, 116A ~ 116D ... coil,
117A to 117D: magnet, 120: light emitting element, 121
... Supporting member, 131 switch, 132 signal processing circuit, 141 position designation means, 151 tactile stimulus presentation means.

Continued on the front page (72) Inventor Shin Takeuchi 430 Green Tech Nakai, Nakai-cho, Ashigara-kami, Kanagawa Prefecture Fuji Xerox Co., Ltd. F-term (reference) 5B087 AA04 AB12 BC13 BC26 BC32 DD32

Claims (2)

[Claims] 1. An actuator in which a second member moves on a straight line or a plane relative to a first member, the actuator being provided on the second member or a member fixed thereto, and A signal generation unit that outputs a signal to a member, a signal detection sensor that is provided on the first member or a member fixed to the first member, and that receives a signal output by the signal generation unit; Detecting a relative displacement of the second member with respect to the first member based on the received signal,
Based on the detection result, the second member with respect to the first member
An actuator, comprising: motion control means for controlling relative motion of members. 2. The actuator according to claim 1, wherein the signal generating unit is provided at a position of a center of gravity of the second member.